version: 66.06
glider: 146
mission: 5
dive: 74
start: 8 26 110 7 10 15
data:
$ID,146
$MISSION,5
$DIVE,74
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,208
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-248684.23
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,070337,2253.917,-15749.593,34,1.1,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.0
$GPS2,070920,2253.956,-15749.604,11,1.5,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,-0.089
$KALMAN_X,-64281.5,36.3,-191.2,100582.5,-613.2
$KALMAN_Y,8429.8,374.5,97.4,126987.1,-419.5
$MHEAD_RNG_PITCHd_Wd,101.5,15897,-14.1,-8.013
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.95,0.000,2,0.000,0.000,476,1803,3532,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.7,-6.7,11,134,12.18,2.83,-1.08,0.000,4,0.161,0.071,2760,189,3600,0,0,0,0,0,0
$GC,146,0.28,-146.0,22.6,-39.2,15,154,1.35,2.45,0.00,0.000,6,0.094,0.016,3057,1801,3601,0,0,0,0,0,0
$GC,437,-0.25,-146.0,46.9,-10.0,47,442,0.45,2.72,0.00,0.000,4,0.065,0.062,2943,188,3601,0,0,0,0,0,0
$GC,556,-0.72,-146.0,58.4,-9.4,56,561,0.43,2.30,0.00,0.000,6,0.100,0.016,2839,1747,3602,0,0,0,0,0,0
$GC,826,-0.89,-146.0,79.6,-7.8,80,831,0.15,2.65,0.00,0.000,4,0.063,0.056,2787,185,3602,0,0,0,0,0,0
$GC,856,-0.89,-146.0,83.3,-10.3,82,861,0.00,2.40,0.00,0.000,6,0.000,0.016,2787,1788,3601,0,0,0,0,0,0
$GC,1120,-0.82,-146.0,114.4,-11.5,106,1125,0.15,2.38,0.00,0.000,4,0.098,0.031,2821,3320,3602,0,0,0,0,0,0
$GC,1166,-0.90,-146.0,119.0,-8.2,109,1172,0.00,2.42,0.00,0.000,6,0.000,0.032,2821,1792,3602,0,0,0,0,0,0
$GC,1429,-0.90,-146.0,139.2,-8.0,134,1434,0.00,2.72,0.00,0.000,4,0.000,0.069,2821,197,3602,0,0,0,0,0,0
$GC,1477,-0.96,-146.0,142.5,-8.0,137,1482,0.15,2.42,0.00,0.000,6,0.063,0.016,2770,1806,3603,0,0,0,0,0,0
$GC,1738,-0.90,-146.0,169.6,-10.5,161,1743,0.15,2.40,0.00,0.000,4,0.099,0.025,2803,3329,3603,0,0,0,0,0,0
$GC,1761,-0.90,-146.0,171.8,-9.3,162,1770,0.00,2.50,0.00,0.000,6,0.000,0.028,2803,1787,3603,0,0,0,0,0,0
$GC,2027,-0.90,-146.0,188.5,-5.2,187,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1786,3603,0,0,0,0,0,0
$GC,2297,-0.90,-146.0,205.6,-6.8,207,2301,0.00,2.75,0.00,0.000,4,0.000,0.067,2803,191,3603,0,0,0,0,0,0
$GC,2341,-0.97,-146.0,209.2,-7.7,208,2345,0.00,2.42,0.00,0.000,6,0.000,0.017,2803,1794,3603,0,0,0,0,0,0
$GC,2620,-1.00,-146.0,228.0,-6.4,215,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1795,3603,0,0,0,0,0,0
$GC,2862,-1.04,-146.0,244.5,-7.1,221,2868,0.12,2.80,0.00,0.000,4,0.074,0.074,2760,192,3603,0,0,0,0,0,0
$GC,2890,-1.00,-146.0,247.4,-10.7,221,2895,0.10,2.40,0.00,0.000,6,0.114,0.021,2783,1783,3602,0,0,0,0,0,0
$GC,3141,-1.00,-146.0,268.0,-8.2,227,3145,0.00,2.45,0.00,0.000,4,0.000,0.037,2783,3336,3602,0,0,0,0,0,0
$GC,3173,-1.00,-146.0,270.7,-8.4,227,3179,0.00,2.50,0.00,0.000,6,0.000,0.033,2783,1790,3602,0,0,0,0,0,0
$GC,3423,-1.00,-146.0,289.2,-7.2,234,3428,0.00,2.83,0.00,0.000,4,0.000,0.080,2783,186,3602,0,0,0,0,0,0
$GC,3456,-1.00,-146.0,291.7,-7.6,234,3463,0.00,2.45,0.00,0.000,6,0.000,0.024,2783,1773,3601,0,0,0,0,0,0
$GC,3707,-1.00,-146.0,308.8,-6.8,241,3712,0.00,2.75,0.00,0.000,4,0.000,0.080,2783,187,3601,0,0,0,0,0,0
$GC,3741,-1.04,-146.0,311.3,-7.5,241,3746,0.00,2.50,0.00,0.000,6,0.000,0.025,2782,1783,3601,0,0,0,0,0,0
$GC,3991,-1.04,-146.0,328.0,-6.6,248,3995,0.00,2.53,0.00,0.000,4,0.000,0.044,2783,3349,3600,0,0,0,0,0,0
$GC,4019,-1.10,-146.0,330.1,-7.5,248,4024,0.00,2.58,0.00,0.000,6,0.000,0.050,2783,1786,3600,0,0,0,0,0,0
$GC,4269,-1.14,-146.0,349.9,-8.2,254,4275,0.12,2.92,0.00,0.000,4,0.075,0.097,2741,186,3599,0,0,0,0,0,0
$GC,4310,-1.14,-146.0,354.2,-11.0,255,4315,0.00,2.50,0.00,0.000,6,0.000,0.033,2741,1763,3599,0,0,0,0,0,0
$GC,4594,-1.10,-146.0,384.9,-11.1,262,4598,0.00,2.58,0.00,0.000,4,0.000,0.044,2741,3352,3598,0,0,0,0,0,0
$GC,4615,-1.10,-146.0,387.1,-9.8,262,4619,0.00,2.65,0.00,0.000,6,0.000,0.055,2741,1769,3598,0,0,0,0,0,0
$GC,4872,-1.10,-146.0,409.3,-8.3,269,4876,0.00,2.90,0.00,0.000,4,0.000,0.107,2740,182,3596,0,0,0,0,0,0
$GC,4893,-1.06,-146.0,411.4,-8.8,269,4898,0.12,2.53,0.00,0.000,6,0.108,0.036,2767,1770,3596,0,0,0,0,0,0
$GC,5149,-1.06,-146.0,428.6,-6.8,276,5153,0.00,2.88,0.00,0.000,4,0.000,0.090,2768,182,3594,0,0,0,0,0,0
$GC,5164,-1.06,-146.0,429.8,-6.6,276,5169,0.00,2.53,0.00,0.000,6,0.000,0.034,2767,1760,3594,0,0,0,0,0,0
$GC,5427,-1.10,-146.0,447.2,-6.7,283,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1761,3593,0,0,0,0,0,0
$GC,5670,-1.15,-146.0,464.2,-6.9,289,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1760,3591,0,0,0,0,0,0
$GC,5914,-1.20,-146.0,482.1,-7.3,295,5919,0.12,2.75,0.00,0.000,4,0.086,0.066,2725,3359,3590,0,0,0,0,0,0
$GC,5948,-1.20,-146.0,485.1,-9.5,295,5953,0.00,2.72,0.00,0.000,6,0.000,0.060,2725,1768,3589,0,0,0,0,0,0
$STATE,6154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6154,begin apogee
$GC,6160,-0.31,0.0,503.1,8.6,301,6283,0.90,0.00,119.28,0.920,6,0.076,0.000,2930,1848,3001,0,0,0,0,0,0
$STATE,6284,end apogee,CONTROL_FINISHED_OK
$STATE,6284,begin climb
$GC,6288,1.06,146.0,506.3,0.0,304,6421,1.25,2.62,123.88,0.893,4,0.058,0.057,3236,3378,2403,0,0,0,0,0,0
$GC,6461,0.92,158.2,501.8,7.6,308,6480,0.17,2.72,10.98,0.781,6,0.119,0.062,3201,1815,2356,0,0,0,0,0,0
$GC,6739,0.89,201.6,483.6,6.4,315,6783,0.00,2.70,38.53,0.869,4,0.000,0.050,3202,3374,2177,0,0,0,0,0,0
$GC,6836,0.89,201.6,476.5,8.0,317,6840,0.00,2.67,0.00,0.000,6,0.000,0.054,3202,1830,2173,0,0,0,0,0,0
$GC,7109,0.83,201.6,455.0,8.2,324,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1829,2170,0,0,0,0,0,0
$GC,7352,0.77,201.6,434.7,8.2,330,7353,0.17,0.00,0.00,0.000,6,0.212,0.000,3166,1829,2169,0,0,0,0,0,0
$GC,7595,0.82,241.8,418.5,6.5,336,7637,0.00,3.03,34.72,0.857,4,0.000,0.101,3166,229,2014,0,0,0,0,0,0
$GC,7660,0.82,241.8,413.6,8.6,337,7664,0.00,2.58,0.00,0.000,6,0.000,0.025,3166,1819,2012,0,0,0,0,0,0
$GC,7920,0.83,254.1,393.7,7.6,344,7934,0.00,0.00,11.62,0.784,6,0.000,0.000,3166,1819,1965,0,0,0,0,0,0
$GC,8165,0.87,254.1,374.3,8.1,350,8171,0.10,2.85,0.00,0.000,4,0.100,0.075,3192,228,1961,0,0,0,0,0,0
$GC,8187,0.87,254.1,372.1,9.1,350,8191,0.00,2.55,0.00,0.000,6,0.000,0.027,3192,1830,1960,0,0,0,0,0,0
$GC,8448,0.87,254.1,349.5,8.5,357,8453,0.00,2.58,0.00,0.000,4,0.000,0.040,3192,3410,1959,0,0,0,0,0,0
$GC,8522,0.87,254.1,343.2,8.4,358,8526,0.00,2.62,0.00,0.000,6,0.000,0.045,3192,1833,1958,0,0,0,0,0,0
$GC,8772,0.88,261.5,323.6,7.7,364,8786,0.00,2.92,7.00,0.683,4,0.000,0.079,3192,233,1934,0,0,0,0,0,0
$GC,8837,0.84,261.5,317.6,10.2,365,8841,0.00,2.55,0.00,0.000,6,0.000,0.025,3192,1847,1933,0,0,0,0,0,0
$GC,9099,0.84,263.2,296.5,7.9,372,9103,0.00,2.50,0.00,0.000,4,0.000,0.035,3192,3397,1932,0,0,0,0,0,0
$GC,9138,0.90,263.2,293.2,8.7,373,9142,0.00,2.55,0.00,0.000,6,0.000,0.041,3192,1834,1931,0,0,0,0,0,0
$GC,9421,0.90,263.2,270.2,8.3,380,9425,0.00,2.78,0.00,0.000,4,0.000,0.075,3192,238,1930,0,0,0,0,0,0
$GC,9482,0.90,263.2,264.6,8.9,381,9487,0.00,2.50,0.00,0.000,6,0.000,0.021,3192,1838,1930,0,0,0,0,0,0
$GC,9743,0.93,288.5,245.0,7.1,388,9773,0.00,2.55,24.58,0.723,4,0.000,0.032,3192,3390,1823,0,0,0,0,0,0
$GC,9814,1.06,325.1,240.2,6.7,389,9854,0.15,2.58,33.00,0.716,6,0.074,0.041,3233,1829,1675,0,0,0,0,0,0
$GC,10112,1.01,325.1,212.1,9.7,397,10116,0.00,2.78,0.00,0.000,4,0.000,0.073,3233,237,1670,0,0,0,0,0,0
$GC,10139,0.93,325.1,208.9,11.1,397,10144,0.15,2.53,0.00,0.000,6,0.110,0.019,3202,1856,1669,0,0,0,0,0,0
$GC,10399,0.93,325.1,184.5,10.2,412,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1857,1669,0,0,0,0,0,0
$GC,10662,0.97,325.1,159.3,9.1,437,10667,0.00,2.78,0.00,0.000,4,0.000,0.064,3202,240,1668,0,0,0,0,0,0
$GC,10696,0.97,325.1,156.5,9.2,439,10700,0.00,2.47,0.00,0.000,6,0.000,0.020,3202,1838,1668,0,0,0,0,0,0
$GC,10963,1.03,331.8,134.1,7.8,463,10975,0.10,2.45,6.25,0.515,4,0.093,0.034,3232,3387,1647,0,0,0,0,0,0
$GC,10994,1.03,331.8,131.2,8.4,465,10999,0.00,2.58,0.00,0.000,6,0.000,0.040,3232,1815,1646,0,0,0,0,0,0
$GC,11256,1.06,354.3,109.8,7.2,490,11279,0.00,0.00,20.50,0.589,6,0.000,0.000,3232,1815,1556,0,0,0,0,0,0
$GC,11532,1.06,354.3,88.2,8.2,516,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1815,1553,0,0,0,0,0,0
$GC,11790,1.12,356.8,68.0,7.9,540,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1815,1553,0,0,0,0,0,0
$GC,12058,1.19,365.3,46.9,7.7,565,12076,0.10,2.75,10.95,0.505,4,0.229,0.061,3261,248,1510,0,0,0,0,0,0
$GC,12088,1.19,365.3,43.7,8.6,567,12098,0.00,2.47,0.00,0.000,6,0.000,0.018,3262,1834,1510,0,0,0,0,0,0
$GC,12390,1.19,365.3,12.3,11.0,603,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1836,1509,0,0,0,0,0,0
$STATE,12474,end climb,SURFACE_DEPTH_REACHED
$STATE,12474,begin surface coast
$FINISH,0.5,1.023289
$STATE,12530,end surface coast,CONTROL_FINISHED_OK
$STATE,12530,begin surface
$SM_CCo,12553,52.90,0.415,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,52.90,0.000,0.000,0.415,471,1752,1287,-11.63,-0.51,420.20
$IRIDIUM_FIX,2244.02,-15751.06,201199,030321
$TT8_MAMPS,0.025311
$HUMID,42.63
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,59
$24V_AH,23.6,13.952
$10V_AH,10.4,13.081
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.950,156.975,441.275,52.900,0.000,29.998,26.332,154.060,14.750,0.000,13.132,1253.660,8247.882,580.248,2327.928,544.971,33.371,1444.584,0.000,2340.158,0.000,0.536,0.000
$DEVICE_MAMPS,228.566,107.380,919.633,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.870,382.670,478.183,909.991,1376.266,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,47918,623
$CAP_FILE_SIZE,132571,0
$CFSIZE,260165632,178393088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260810,104157,2253.134,-15748.396,29,2.3,48,10.1